version: 66.03
glider: 5
mission: 3
dive: 99
start: 6 27 108 3 28 43
data:
$ID,5
$MISSION,3
$DIVE,99
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,547.01898
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-78470.633
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,031538,6150.092,-935.968,36,0.8,37,-9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-50.7
$GPS2,032750,6150.121,-936.161,11,1.1,11,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.128,-0.155
$KALMAN_X,-127209.2,-618.1,-1494.7,58721.9,-4611.5
$KALMAN_Y,52482.3,-202.7,-1400.2,-4130.4,15617.8
$MHEAD_RNG_PITCHd_Wd,150.2,27819,-12.6,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,137,0.00,0.00,-111.30,0.000,6,0.000,0.000,421,2178,3100
$GC,141,-1.03,-117.3,2.0,-1.5,5,157,10.62,2.60,0.00,0.000,4,0.138,0.061,2467,741,3098
$GC,320,-0.70,-117.3,22.6,-9.7,12,325,0.38,2.50,0.00,0.000,6,0.087,0.051,2548,2142,3098
$GC,649,-0.63,-117.3,46.8,-7.0,28,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2142,3098
$GC,957,-0.57,-117.3,65.2,-5.9,43,962,0.12,2.58,0.00,0.000,4,0.094,0.061,2573,736,3098
$GC,997,-0.57,-117.3,67.2,-4.8,45,1002,0.00,2.55,0.00,0.000,6,0.000,0.051,2574,2158,3098
$GC,1325,-0.57,-117.3,85.5,-6.6,61,1329,0.00,2.58,0.00,0.000,4,0.000,0.061,2573,742,3098
$GC,1365,-0.57,-117.3,88.7,-8.1,63,1369,0.00,2.47,0.00,0.000,6,0.000,0.051,2573,2137,3098
$GC,1691,-0.57,-117.3,118.1,-10.1,79,1696,0.00,2.55,0.00,0.000,4,0.000,0.062,2573,3558,3098
$GC,1702,-0.57,-117.3,119.3,-9.9,79,1709,0.00,2.55,0.00,0.000,6,0.000,0.049,2573,2123,3098
$GC,2019,-0.57,-117.3,133.8,-1.2,95,2024,0.00,2.62,0.00,0.000,4,0.000,0.064,2573,3555,3098
$GC,2031,-0.57,-117.3,133.5,-0.2,95,2037,0.00,2.53,0.00,0.000,6,0.000,0.050,2574,2138,3097
$GC,2347,-0.57,-117.3,125.7,2.1,111,2351,0.00,2.50,0.00,0.000,4,0.000,0.064,2573,747,3098
$GC,2380,-0.57,-117.3,125.5,0.4,112,2387,0.00,2.47,0.00,0.000,6,0.000,0.051,2574,2129,3097
$GC,2697,-0.57,-117.3,126.6,-1.2,128,2701,0.00,2.53,0.00,0.000,4,0.000,0.064,2573,750,3097
$GC,2707,-0.57,-117.3,126.8,-1.3,128,2714,0.00,2.47,0.00,0.000,6,0.000,0.051,2573,2132,3097
$GC,3024,-0.57,-117.3,137.5,-4.0,144,3029,0.00,2.55,0.00,0.000,4,0.000,0.064,2573,3557,3097
$GC,3037,-0.57,-117.3,137.8,-3.4,144,3043,0.00,2.53,0.00,0.000,6,0.000,0.048,2573,2132,3097
$GC,3353,-0.57,-117.3,148.7,-2.7,160,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2113,3097
$GC,3662,-0.57,-117.3,161.1,-5.3,175,3667,0.00,2.50,0.00,0.000,4,0.000,0.066,2573,745,3097
$GC,3675,-0.57,-117.3,161.5,-4.9,175,3681,0.00,2.53,0.00,0.000,6,0.000,0.052,2573,2157,3097
$GC,3991,-0.57,-117.3,184.6,-9.3,191,3995,0.00,2.50,0.00,0.000,4,0.000,0.064,2573,3557,3097
$GC,4001,-0.57,-117.3,185.7,-9.4,191,4007,0.00,2.53,0.00,0.000,6,0.000,0.049,2573,2144,3097
$GC,4317,-0.57,-117.3,216.8,-9.6,207,4321,0.00,2.58,0.00,0.000,4,0.000,0.064,2573,3560,3096
$GC,4338,-0.57,-117.3,218.9,-9.2,208,4343,0.00,2.50,0.00,0.000,6,0.000,0.048,2573,2151,3096
$GC,4660,-0.57,-117.3,243.7,-6.6,224,4664,0.00,2.58,0.00,0.000,4,0.000,0.064,2573,3560,3096
$GC,4670,-0.57,-117.3,244.4,-6.5,224,4676,0.00,2.50,0.00,0.000,6,0.000,0.051,2573,2157,3096
$GC,4986,-0.57,-117.3,264.9,-6.4,240,4990,0.00,2.55,0.00,0.000,4,0.000,0.064,2573,3557,3096
$GC,4996,-0.57,-117.3,265.6,-6.6,240,5002,0.00,2.47,0.00,0.000,6,0.000,0.050,2573,2163,3096
$GC,5312,-0.57,-117.3,289.1,-7.9,256,5317,0.00,2.55,0.00,0.000,4,0.000,0.064,2573,3560,3096
$GC,5323,-0.57,-117.3,290.2,-8.1,256,5329,0.00,2.50,0.00,0.000,6,0.000,0.051,2573,2159,3096
$GC,5639,-0.57,-117.3,319.4,-10.1,272,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2159,3096
$GC,5951,-0.57,-117.3,350.3,-9.8,287,5955,0.00,2.55,0.00,0.000,4,0.000,0.067,2573,746,3096
$GC,5961,-0.57,-117.3,351.5,-9.7,287,5967,0.00,2.55,0.00,0.000,6,0.000,0.053,2573,2165,3096
$GC,6277,-0.62,-117.3,378.6,-7.4,303,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2165,3096
$GC,6587,-0.66,-117.3,399.0,-6.0,318,6591,0.00,2.60,0.00,0.000,4,0.000,0.067,2573,743,3095
$GC,6597,-0.66,-117.3,399.6,-5.7,318,6605,0.00,2.55,0.00,0.000,6,0.000,0.054,2573,2161,3095
$GC,6914,-0.71,-117.3,417.3,-5.7,334,6919,0.12,2.60,0.00,0.000,4,0.052,0.065,2536,744,3095
$GC,6942,-0.64,-117.3,419.2,-6.6,335,6947,0.10,2.53,0.00,0.000,6,0.100,0.053,2556,2148,3095
$GC,7258,-0.64,-117.3,437.7,-5.5,350,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2147,3095
$GC,7568,-0.64,-117.3,453.8,-4.1,365,7572,0.00,2.58,0.00,0.000,4,0.000,0.067,2556,745,3095
$GC,7634,-0.64,-117.3,455.9,-3.7,368,7639,0.00,2.47,0.00,0.000,6,0.000,0.054,2556,2134,3095
$GC,7956,-0.64,-117.3,473.2,-6.2,384,7960,0.00,2.55,0.00,0.000,4,0.000,0.065,2556,740,3095
$GC,7996,-0.64,-117.3,476.2,-8.4,386,8000,0.00,2.50,0.00,0.000,6,0.000,0.054,2556,2133,3095
$GC,8322,-0.64,-117.3,495.8,-6.4,402,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2133,3095
$GC,8631,-0.64,-117.3,517.6,-6.5,417,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2134,3094
$GC,8941,-0.64,-117.3,537.0,-6.3,432,8945,0.00,2.58,0.00,0.000,4,0.000,0.067,2556,3557,3094
$GC,8985,-0.64,-117.3,540.4,-8.0,434,8989,0.00,2.55,0.00,0.000,6,0.000,0.052,2556,2130,3094
$GC,9306,-0.64,-117.3,566.1,-8.7,450,9310,0.00,2.65,0.00,0.000,4,0.000,0.067,2556,3565,3094
$GC,9557,-0.64,-117.3,591.0,-9.4,461,9561,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,2150,3094
$GC,9873,-0.64,-117.3,615.6,-6.6,476,9878,0.00,2.60,0.00,0.000,4,0.000,0.067,2556,3560,3093
$GC,9896,-0.64,-117.3,617.5,-8.4,477,9900,0.00,2.50,0.00,0.000,6,0.000,0.054,2556,2151,3093
$GC,10216,-0.64,-117.3,642.1,-7.8,493,10221,0.00,2.60,0.00,0.000,4,0.000,0.069,2556,3557,3093
$GC,10227,-0.64,-117.3,642.9,-7.9,493,10233,0.00,2.53,0.00,0.000,6,0.000,0.054,2556,2150,3093
$GC,10543,-0.64,-117.3,662.7,-4.6,509,10548,0.00,2.62,0.00,0.000,4,0.000,0.070,2556,3567,3093
$GC,10751,-0.64,-117.3,666.3,-1.4,518,10755,0.00,2.47,0.00,0.000,6,0.000,0.055,2556,2186,3093
$GC,11068,-0.64,-117.3,675.5,-4.9,533,11072,0.00,2.60,0.00,0.000,4,0.000,0.071,2556,747,3093
$GC,11080,-0.64,-117.3,676.2,-5.2,533,11086,0.00,2.60,0.00,0.000,6,0.000,0.059,2556,2178,3093
$GC,11396,-0.64,-117.3,691.1,-4.4,549,11400,0.00,2.67,0.00,0.000,4,0.000,0.074,2556,744,3093
$GC,11469,-0.64,-117.3,692.8,-1.5,552,11473,0.00,2.60,0.00,0.000,6,0.000,0.063,2556,2167,3093
$GC,11785,-0.69,-117.3,690.5,1.4,567,11789,0.00,2.65,0.00,0.000,4,0.000,0.078,2556,747,3092
$GC,11796,-0.69,-117.3,690.3,0.7,567,11802,0.00,2.60,0.00,0.000,6,0.000,0.064,2556,2166,3092
$GC,12112,-0.69,-117.3,706.0,-8.2,583,12116,0.00,2.58,0.00,0.000,4,0.000,0.081,2556,3557,3092
$GC,12122,-0.69,-117.3,707.1,-8.9,583,12128,0.00,2.50,0.00,0.000,6,0.000,0.065,2556,2194,3092
$GC,12439,-0.73,-117.3,724.3,-3.9,599,12443,0.00,2.58,0.00,0.000,4,0.000,0.081,2556,3558,3091
$GC,12501,-0.73,-117.3,726.0,-1.8,602,12506,0.00,2.47,0.00,0.000,6,0.000,0.064,2556,2200,3091
$GC,12829,-0.73,-117.3,721.1,1.4,618,12830,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2182,3090
$GC,13138,-0.88,-117.3,729.9,-11.5,633,13143,0.20,2.60,0.00,0.000,4,0.054,0.084,2499,3565,3089
$GC,13156,-0.82,-117.3,732.4,-10.9,634,13161,0.10,2.50,0.00,0.000,6,0.111,0.067,2518,2201,3089
$GC,13483,-0.82,-117.3,745.4,-9.1,650,13487,0.00,2.58,0.00,0.000,4,0.000,0.084,2518,3562,3088
$GC,13725,-0.73,-117.3,764.5,-8.6,661,13730,0.10,2.42,0.00,0.000,6,0.114,0.064,2538,2231,3086
$GC,14053,-0.73,-117.3,788.6,-2.3,677,14057,0.00,2.75,0.00,0.000,4,0.000,0.081,2537,743,3085
$STATE,14083,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14083,begin apogee
$GC,14092,-0.33,0.0,790.6,7.9,678,14199,0.40,0.00,99.72,1.423,6,0.094,0.000,2622,2098,2620
$STATE,14200,end apogee,CONTROL_FINISHED_OK
$STATE,14200,begin climb
$GC,14203,1.03,117.3,789.5,0.0,684,14307,1.45,0.00,100.78,1.390,6,0.076,0.000,2927,2097,2141
$GC,14632,1.18,210.6,764.4,2.8,705,14718,0.12,2.72,79.72,1.364,4,0.058,0.082,2961,3512,1761
$GC,14887,1.51,492.5,752.2,-3.6,716,15137,0.30,2.67,237.12,1.348,6,0.049,0.071,3031,2086,612
$GC,15449,1.35,492.5,703.6,11.0,744,15454,0.17,2.65,0.00,0.000,4,0.098,0.084,2996,688,613
$GC,15482,1.27,492.5,698.8,13.2,745,15488,0.00,2.70,0.00,0.000,6,0.000,0.070,2996,2133,613
$GC,15799,1.18,492.5,663.8,10.7,761,15804,0.17,2.72,0.00,0.000,4,0.093,0.079,2956,694,612
$GC,15884,1.28,492.5,654.3,10.5,765,15889,0.00,2.58,0.00,0.000,6,0.000,0.064,2956,2093,612
$GC,16212,1.37,492.5,617.2,9.1,781,16217,0.15,2.65,0.00,0.000,4,0.056,0.081,3003,691,612
$GC,16263,1.27,492.5,609.5,16.4,783,16268,0.15,2.58,0.00,0.000,6,0.086,0.060,2975,2097,612
$GC,16579,1.32,492.5,558.2,14.9,798,16584,0.00,2.62,0.00,0.000,4,0.000,0.073,2974,693,613
$GC,16647,1.39,492.5,546.2,16.6,801,16652,0.12,2.47,0.00,0.000,6,0.052,0.058,3010,2054,613
$GC,16968,1.35,492.5,488.9,15.8,817,16973,0.00,2.65,0.00,0.000,4,0.000,0.066,3010,3515,614
$GC,17002,1.35,492.5,483.8,14.7,818,17008,0.00,2.67,0.00,0.000,6,0.000,0.056,3010,2036,614
$GC,17318,1.30,492.5,432.2,17.6,834,17323,0.15,2.42,0.00,0.000,4,0.084,0.069,2976,692,614
$GC,17374,1.38,492.5,423.8,15.2,836,17380,0.12,2.42,0.00,0.000,6,0.051,0.054,3013,2036,615
$GC,17690,1.38,492.5,377.8,14.3,852,17694,0.00,2.65,0.00,0.000,4,0.000,0.064,3012,3509,615
$GC,17717,1.38,492.5,373.9,14.1,853,17721,0.00,2.67,0.00,0.000,6,0.000,0.054,3013,2020,615
$GC,18033,1.38,492.5,331.9,13.1,868,18037,0.00,2.42,0.00,0.000,4,0.000,0.070,3013,686,616
$GC,18100,1.38,492.5,323.4,11.9,871,18104,0.00,2.40,0.00,0.000,6,0.000,0.053,3012,2020,615
$GC,18421,1.38,492.5,286.9,11.4,887,18425,0.00,2.67,0.00,0.000,4,0.000,0.063,3012,3508,616
$GC,18460,1.44,492.5,283.1,8.9,889,18465,0.00,2.70,0.00,0.000,6,0.000,0.056,3013,2016,616
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$GC,19177,1.44,492.5,205.8,11.3,924,19181,0.00,2.67,0.00,0.000,4,0.000,0.062,3013,3512,617
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$GC,21153,1.49,492.5,11.8,11.6,1019,21157,0.00,2.42,0.00,0.000,4,0.000,0.064,3013,690,618
$GC,21225,1.49,492.5,3.3,11.7,1022,21229,0.00,2.33,0.00,0.000,6,0.000,0.050,3012,1995,618
$STATE,21250,end climb,SURFACE_DEPTH_REACHED
$STATE,21250,begin surface coast
$FINISH,0.0,1.026839
$STATE,21272,end surface coast,CONTROL_FINISHED_OK
$STATE,21272,begin surface
$SM_CCo,21295,33.00,0.780,0,0,389,547.02
$SM_GC,0.49,0.00,0.00,33.00,0.000,0.000,0.780,419,2179,389,-10.49,0.65,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1679
$TCM_TEMP,16.60
$XPDR_PINGS,589
$ALTIM_TOP_PING,19.0,18.4
$ALTIM_BOTTOM_PING,700.8,99.8
$24V_AH,23.8,20.971
$10V_AH,10.1,9.521
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.225,235.200,517.350,33.000,0.000,37.764,36.690,521.846,153.500,0.000,0.000,13.179,1911.278,16081.637,735.342,2336.226,989.795,33.374,1954.801,0.000,2286.401,0.000,42.788
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,701.236,758.320,675.064,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53668,1024
$CAP_FILE_SIZE,178925,0
$CFSIZE,254472192,245649408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,270608,092531,6149.730,-940.682,39,1.7,39,-9.7